考虑饱和永磁伺服系统速度调节的设计与调整

针对经典控制理论设计的速度调节器与实际调试结果出入大，以及在速度阶跃过程中速度调节器的饱和问题，提出用线性二次型状态反馈的设计思想，实现伺服系统速度调节器的设计。在速度调节器饱和过程中，采用棒棒控制实现响应时间的最小化。为保证动态过程中系统速度调节器的平稳过渡，合理选择调节器的转换阀值，并引入速度微分反馈控制，可以在不影响系统响应快速性的前提下抑制超调与振荡。在电机速度阶跃过程中，加大系统动态过程中的限幅力矩，使系统的响应更快，响应时间更短。数字仿真和实验均证实了文中所做分析与设计的有效性。

Design and adjustment of the servo system speed regulator in view of saturation

Aiming at the problem that the speed regulator parameters designed by classical control theory were very different from that used in practical, and the speed regulator became saturation when the speed was changed in step-function, the design of speed regulator of PMSM Servo System was put forward, by means of Linear Quadratic State Feedback. When the speed regulator became saturation, the Bang-Bang control method was applied to reduce response time of transitional process. With the help of properly modulating the weighted matrix of state variable, the corresponding variable can meet the demand of system control and the performance specification be excellent. In order to ensure smooth transition of speed regulator in dynamic process, the switch valve of speed was selected properly and the differential coefficient of motor speed was imported to speed regulating, as a result of which the overshoot and oscillation of speed were depressed obviously, without affecting response speed of system. The maxim limit torque was set when motor speed was jumping, so that the response of system can be quickened and the response time can be shortened. Both numerical simulation and experiment results validated the approaches adopted in this paper.